version: 66.07
glider: 500
mission: 4
dive: 8
start: 6 17 110 3 7 30
data:
$ID,500
$MISSION,4
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,7
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109721.28
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,7
$AR_SAMPLENUM,8
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,170610,025855,2114.830,-15753.219,39,1.7,39,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.5
$GPS2,170610,030708,2114.851,-15753.273,11,1.6,11,9.8
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,TGT01
$TGT_LATLONG,2112.000,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,176.8,5315,-24.4,-10.000
$D_GRID,240
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.91,-77.9,0.0,0.0,0,97,0.00,0.00,-70.90,0.000,2,0.000,0.000,140,2037,2743,0,0,0,0,0,0
$GC,99,-0.91,-77.9,3.3,-9.3,14,125,10.07,2.40,-8.82,0.000,4,0.252,0.065,2578,452,3141,0,0,0,0,0,0
$GC,378,-0.91,-77.9,63.7,-21.3,51,382,0.00,2.28,0.00,0.000,6,0.000,0.041,2568,2041,3141,0,0,0,0,0,0
$GC,647,-0.91,-77.9,111.5,-15.7,76,651,0.00,2.30,0.00,0.000,4,0.000,0.048,2556,3619,3141,0,0,0,0,0,0
$GC,673,-0.91,-77.9,115.9,-15.4,78,678,0.10,2.25,0.00,0.000,6,0.175,0.035,2582,2026,3143,0,0,0,0,0,0
$GC,939,-0.91,-77.9,151.4,-13.5,103,943,0.00,2.30,0.00,0.000,4,0.000,0.054,2581,447,3144,0,0,0,0,0,0
$GC,1078,-0.91,-77.9,172.5,-14.9,115,1082,0.00,2.25,0.00,0.000,6,0.000,0.041,2573,2025,3145,0,0,0,0,0,0
$GC,1343,-0.91,-77.9,209.5,-13.6,137,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2025,3144,0,0,0,0,0,0
$STATE,1588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1588,begin apogee
$GC,1591,-0.23,0.0,240.7,13.0,149,1654,0.73,0.00,59.45,0.667,6,0.133,0.000,2806,2025,2823,0,0,0,0,0,0
$STATE,1669,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1670,0.91,77.9,243.4,0.0,152,1741,0.98,2.50,60.62,0.655,4,0.075,0.055,3184,449,2505,0,0,0,0,0,0
$GC,1784,0.98,136.8,240.3,4.9,157,1837,0.00,2.38,47.17,0.647,6,0.000,0.039,3184,2034,2265,0,0,0,0,0,0
$GC,2145,0.98,136.8,204.0,10.4,175,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2034,2257,0,0,0,0,0,0
$GC,2463,0.98,136.8,169.6,10.4,203,2467,0.00,2.38,0.00,0.000,4,0.000,0.057,3187,3613,2256,0,0,0,0,0,0
$GC,2607,0.98,136.8,152.3,12.1,215,2614,0.00,2.33,0.00,0.000,6,0.000,0.043,3197,2037,2254,0,0,0,0,0,0
$GC,2869,1.03,175.6,128.1,6.7,240,2904,0.00,2.38,30.02,0.607,4,0.000,0.053,3209,449,2107,0,0,0,0,0,0
$GC,3004,1.03,175.6,114.1,12.5,252,3008,0.00,2.33,0.00,0.000,6,0.000,0.040,3209,2030,2101,0,0,0,0,0,0
$GC,3270,1.03,175.6,83.9,10.8,277,3274,0.00,2.38,0.00,0.000,4,0.000,0.057,3213,3614,2098,0,0,0,0,0,0
$GC,3381,1.03,175.6,69.9,12.5,286,3388,0.00,2.35,0.00,0.000,6,0.000,0.043,3221,2021,2098,0,0,0,0,0,0
$GC,3642,1.05,190.8,45.4,8.7,311,3657,0.00,0.00,12.45,0.525,6,0.000,0.000,3221,2021,2043,0,0,0,0,0,0
$GC,3912,1.06,199.5,23.9,9.2,342,3923,0.00,0.00,8.02,0.474,6,0.000,0.000,3226,2022,2008,0,0,0,0,0,0
$STATE,4112,end climb,SURFACE_DEPTH_REACHED
$STATE,4112,begin surface coast
$FINISH,0.3,1.021601
$STATE,4141,end surface coast,CONTROL_FINISHED_OK
$STATE,4142,begin surface
$SM_CCo,4169,143.95,0.070,0,0,785,500.16
$SM_GC,1.10,0.00,0.00,143.95,0.000,0.000,0.070,138,2020,785,-8.57,-0.31,500.16
$IRIDIUM_FIX,2108.69,-15752.16,101211,191917
$TT8_MAMPS,0.058292
$HUMID,1078459990
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,111.5,9.1
$AR_POSTDIVE_SAMPLENUM,8
$AR_CDRIVE_FREE,8449294336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59612823552
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.7,1.223
$10V_AH,10.2,1.557
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.675,32.775,217.750,143.950,0.000,29.353,29.743,323.676,2.000,0.000,13.520,657.121,2532.624,419.614,1162.685,52.539,0.000,815.695,0.000,694.025,0.000,15.359,0.000
$DEVICE_MAMPS,251.576,65.195,667.290,69.797,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,255.747,0.000,0.000,0.000,0.000,0.000,0.000,5113.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,38.968,0.000,0.000
$MEM,334832
$DATA_FILE_SIZE,13498,383
$CAP_FILE_SIZE,58149,0
$CFSIZE,260165632,258322432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,042020,2114.520,-15753.555,11,2.0,11,9.8